北京航空航天大学学报 ›› 2015, Vol. 41 ›› Issue (9): 1645-1650.doi: 10.13700/j.bh.1001-5965.2015.0033

• 论文 • 上一篇    下一篇

捷联惯导系统最简多位置解析对准

谭彩铭, 王宇, 苏岩, 朱欣华   

  1. 南京理工大学 机械工程学院, 南京 210094
  • 收稿日期:2015-01-19 出版日期:2015-09-20 发布日期:2015-09-29
  • 通讯作者: 苏岩(1967—),男,江苏苏州人,教授,suyan@mail.njust.edu.cn,主要研究方向为MEMS传感技术. E-mail:suyan@mail.njust.edu.cn
  • 作者简介:谭彩铭(1987—),男,江苏句容人,博士研究生,tancm314@hotmail.com
  • 基金资助:
    国家自然科学基金青年科学基金(61301021)

The simplest multi-position analytic alignment for SINS

TAN Caiming, WANG Yu, SU Yan, ZHU Xinhua   

  1. School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China
  • Received:2015-01-19 Online:2015-09-20 Published:2015-09-29

摘要: 传统的多位置解析对准方法一般要求将捷联惯导系统(SINS)安装在一个伺服平台上并绕天向轴旋转90°或180°,这对工程带来不便,且伺服平台的精度会影响多位置解析对准的精度.针对这一问题,提出最简多位置解析对准方法,指出任意两位置是实现SINS多位置解析对准所需的最小条件,即通常理论上任意两位置可解算出惯性测量单元(IMU)的常值偏置,给出了计算方法,并通过仿真实例加以说明和验证,可以作为一种简易初始对准或现场标定方法.另外通过解析方法指出在特殊姿态下,某单一轴向的加速度计常值偏置或陀螺常值漂移可以直接被较好地估计出来,结论可用于进一步改进多位置对准方法.

关键词: 多位置对准, 解析对准, 常值偏置, 初始对准, 捷联惯导系统(SINS)

Abstract: The strapdown inertial navigation system (SINS) need to be installed on a servo platform and rotated through 90 ° or 180 ° about the up axis for traditional multi-position analytic alignment method. Thus it will bring inconvenience, and the precision of the servo platform will directly affect the precision of the multi-position analytic alignment method. To address the issue, a simplest multi-position analytic alignment method was proposed. The multi-position analytic alignment can be done by any two positions, or to say, the constant biases of the inertial measurement unit (IMU) can be ordinarily obtained through the information in any two positions. The computation procedure of this method was given and simulations proved the validity of this method. The simplest multi-position analytic alignment with any two positions can be used as a simple initial alignment method or a field calibration method. Moreover, it is proposed that the constant bias of the accelerometer or the constant drift of the gyroscope in a certain axis can be well estimated when the IMU stays in some particular attitudes. The conclusion can be used for further improvement of the multi-position alignment method.

Key words: multi-position alignment, analytic alignment, constant bias, initial alignment, strapdown inertial navigation system (SINS)

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